Sistema ETD

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Tesi etd-08052009-144143


Tipo di tesi
Tesi di laurea specialistica
Autore
GALOTA, GAETANO
URN
etd-08052009-144143
Titolo
Robot control in cooperative object carrying
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Commissione
relatore Prof. Bicchi, Antonio
controrelatore Prof. Caiti, Andrea
Parole chiave
  • cooperative task
  • active cooperation
  • human-robot cooperation
  • HRI
Data inizio appello
08/10/2009;
Consultabilità
parziale
Data di rilascio
08/10/2049
Riassunto analitico
In the future, robots will gradually become part of our daily life. Hence, human-robot-interaction
is a crucial field of research. One way of interaction is the cooperative manipulation of an object by a human and a robot. Most of the work in literature considers scenarios within which the robot assists the human operator as a passive follower. However, better task performance can be achieved if the robot acts as active, human-like partner. The human intention has to be recognized by the robot and appropriate control strategies to perform a given task have to be designed and implemented on the autonomous robot. In order to design the control, existing approaches from literature that model human behavior can be tested and modified. The scenario to be considered in this thesis is a cooperative object carrying task.
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